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Updated world to latest standards (space-ros#46)
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Signed-off-by: Jasmeet Singh <[email protected]>
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@jasmeet0915 @mkhansenbot
jasmeet0915 authored and mkhansenbot committed Sep 9, 2024
1 parent 15d1202 commit 51ffd66
Showing 1 changed file with 232 additions and 42 deletions.
274 changes: 232 additions & 42 deletions mars_rover/worlds/mars_curiosity.world
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@@ -1,59 +1,249 @@
<?xml version="1.0" ?>
<sdf version="1.11">
<world name="default">
<gui fullscreen="0">
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
</physics>
<plugin
filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<plugin
filename="gz-sim-user-commands-system"
name="gz::sim::systems::UserCommands">
</plugin>
<plugin
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>

<plugin filename="GzScene3D" name="3D View">
<gui fullscreen="0">
<plugin filename="MinimalScene" name="3D View">
<gz-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
<engine>ogre2</engine>
<scene>scene</scene>
<background_color>0.9 0.753 0.66</background_color>
<camera_pose>-5.0 0.0 -6.0 0.0 0.0 0.0</camera_pose>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
</plugin>

<!-- Plugins that add functionality to the scene -->
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
<gz-gui>
<property key="state" type="string">floating</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="GzSceneManager" name="Scene Manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="InteractiveViewControl" name="Interactive view control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="CameraTracking" name="Camera Tracking">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="MarkerManager" name="Marker manager">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="ImageDisplay" name="Image Display">
<plugin filename="SelectEntities" name="Select Entities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="Spawn" name="Spawn Entities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<plugin filename="VisualizationCapabilities" name="Visualization Capabilities">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="width" type="double">5</property>
<property key="height" type="double">5</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
</gz-gui>
</plugin>

<!-- World control -->
<plugin filename="WorldControl" name="World control">
<gz-gui>
<property key="state" type="string">floating</property>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>
</plugin>
</gui>

<server_config>
<plugins>
<plugin entity_name="*"
entity_type="world"
filename="gz-sim-scene-broadcaster-system"
name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin entity_name="*"
entity_type="world"
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
</plugins>
</server_config>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<use_event>true</use_event>
</plugin>

<!-- World statistics -->
<plugin filename="WorldStats" name="World stats">
<gz-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>
<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</gz-gui>
<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
</plugin>

<!-- Insert simple shapes -->
<plugin filename="Shapes" name="Shapes">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">0</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</gz-gui>
</plugin>

<!-- Insert lights -->
<plugin filename="Lights" name="Lights">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">250</property>
<property key="y" type="double">0</property>
<property key="width" type="double">150</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#666666</property>
</gz-gui>
</plugin>

<!-- Translate / rotate -->
<plugin filename="TransformControl" name="Transform control">
<gz-gui>
<property key="resizable" type="bool">false</property>
<property key="x" type="double">0</property>
<property key="y" type="double">50</property>
<property key="width" type="double">250</property>
<property key="height" type="double">50</property>
<property key="state" type="string">floating</property>
<property key="showTitleBar" type="bool">false</property>
<property key="cardBackground" type="string">#777777</property>
</gz-gui>
</plugin>

<!-- Inspector -->
<plugin filename="ComponentInspector" name="Component inspector">
<gz-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
</plugin>

<!-- Entity tree -->
<plugin filename="EntityTree" name="Entity tree">
<gz-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
</plugin>

<!-- Image Display -->
<plugin filename="ImageDisplay" name="Image Display">
<gz-gui>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</gz-gui>
</plugin>
</gui>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<!-- Martian Gravity-->
<gravity>0 0 -3.711</gravity>
<gravity>0 0 -3.711</gravity>

<include>
<uri>model://curiosity_path</uri>
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